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S-Plane-Based Trajectory Tracking Control of Underactuated Ship
2021 4th International Conference on Intelligent Autonomous Systems (ICoIAS), 2021It is well known that traditional trajectory tracking model-based control methods of underactuated ship are not able to adapt to complex and dynamic ocean environment. In this paper, taking into consideration of dynamic parameter uncertainty of the underlying underactuated ship model and unknown time-varying environmental disturbances, an S-plane-based
Qiushi Yang, Huipu Xu, Meng Joo Er
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Improved PSO-based S Plane Controller for motion control of underwater vehicle
2008 Chinese Control and Decision Conference, 2008Based on the analysis of fuzzy control, combined with the form of PID control, the S plane control has been applied. For the default that particle swarm optimization (PSO) presents the phenomenon of precocity and getting in local minima, the basic PSO algorithm is improved.
Xu-dong Tang +3 more
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Fuzzy S plane controller for motion control of underwater vehicles
2011 6th IEEE Conference on Industrial Electronics and Applications, 2011Autonomous Underwater Vehicle (AUV) has a strong-coupling nonlinear motion system. Thus, nonlinearity must be considered in the design of AUV' control system. And the control method which is independent of model must be taken into account, too. Fuzzy S plane controller was adopted to solve the motion control problem under various velocities in the ...
Shan Ma +3 more
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Stability Analysis on S Plane Control of Underwater Vehicles
Applied Mechanics and Materials, 2013This paper addresses the stability analysis on S Plane Control in terms of both position and velocity control. Employing Lyapunov stability theory and T-passivity theory, this paper proves the stability of the position controller based on S Plane Control, and on this ground, the stability analysis of the velocity controller based on S Plane Control is ...
Yue Ming Li +3 more
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A s-plane analytic technique for lead-lag controller design
Proceedings of 1995 American Control Conference - ACC'95, 2005In this paper an analytic design technique for a lead-lag controller to satisfy specifications for transient and steady state response of a plant is proposed. Based on the s-plane, three closed loop roots after lead-lag compensation are forced to line up on one vertical line, then the prefiltering technique is used to cancel out undesired effects of ...
R.C. Dorf, S. Jung, J. Dawes, L. Ng
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Modified S-Plane Control of AUV Based on Motion Compensation
2009 International Workshop on Intelligent Systems and Applications, 2009S-plane control is proved to be a feasible method with disadvantages at high speed in application to AUV motion control. To compensate the motion couple effect at high speed, a modified S-plane controller is proposed by analyzing AUV's dynamics and taking static force and coupling effects between longitude velocity and other dimensions into account ...
Lei Zhang +3 more
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Improved S-plane control for underwater vehicles
Proceedings of the 10th World Congress on Intelligent Control and Automation, 2012Research on control for underwater vehicle is undertaken. S-plane control is verified to be effective in control of underwater vehicles. But there are problems in steady precision and parameter adjustments. In order to obtain higher steady precision, intelligent integral is brought in, and expert S-plane control is presented to tune the parameters on ...
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